CN103251354A - Control method of sweeping robot - Google Patents

Abstract

The invention provides a control method of a sweeping robot. The control method is suitable for a sweeping robot with a non-omnidirectional light detector. The method comprises the following steps: detecting a light ray by the non-omnidirectional light detector; when the non-omnidirectional light detector detects the light, the sweeping robot stops moving and rotates the non-omnidirectional light detector; stopping rotating the non-omnidirectional light detector and estimating a first rotating angle when the non-omnidirectional light detector cannot detect the light; and changing the traveling direction of the sweeping robot according to the first rotation angle.

Description

The sweep the floor control method of robot

Technical field

The present invention relates to a kind of robot of sweeping the floor, particularly relate to a kind of robot of sweeping the floor with non-omnidirectional type photodetector.

Background technology

Along with the progress of science and technology, the kind of electronic product is more and more many, and wherein robot (robot) is exactly wherein a kind of.In many movable machine people devices, in order to reach the function of automatic movement, robot can have a drive unit, a detector and a mobile controller usually.For example, sweeping robot is exactly a kind of clearing apparatus, does not need the user to operate, just can move automatically, and the dust on the absorption floor.

Summary of the invention

One embodiment of the invention provide a kind of control method of the robot of sweeping the floor.This control method is applicable to the sweeper device people with a non-omnidirectional type photodetector.This method comprises: detect a light by this non-omnidirectional type photodetector; When this non-omnidirectional type photodetector detects this light, this robot stop motion of sweeping the floor, and rotate this non-omnidirectional type photodetector; When this non-omnidirectional type photodetector detected less than this light, this non-omnidirectional type photodetector and estimate one first anglec of rotation stopped operating; Change one of this robot of sweeping the floor direction of advancing according to this first anglec of rotation.

Another embodiment of the present invention provides a kind of control method of the robot of sweeping the floor, and is applicable to the sweeper device people with a non-omnidirectional type photodetector.This method comprises: detect a light by this non-omnidirectional type photodetector; When this non-omnidirectional type photodetector detected this light for the first time, this robot of sweeping the floor continued mobile; When this non-omnidirectional type photodetector detects less than this light, this robot stop motion of sweeping the floor, and rotate this non-omnidirectional type photodetector; When this non-omnidirectional type photodetector detected this light again, this non-omnidirectional type photodetector and estimate one first anglec of rotation of this non-omnidirectional type photodetector stopped operating; Change one of this robot of sweeping the floor direction of advancing according to this first anglec of rotation.

Description of drawings

Fig. 1 is the schematic diagram according to an embodiment of a sweeper device people of the present invention and a virtual wall.

Fig. 2 a is the top view according to an embodiment of of the present invention one non-omnidirectional type photodetector.

Fig. 2 b is the plan view of an embodiment of the non-omnidirectional type photodetector of Fig. 2 a.

Fig. 2 c and Fig. 2 d utilize of the present invention one non-omnidirectional type photodetector to estimate the schematic diagram of the incident angle of a light.

Fig. 2 e is the schematic diagram according to another embodiment of of the present invention one non-omnidirectional type photodetector.

Fig. 3 is the schematic diagram according to an embodiment of a sweeper device people's of the present invention control method.

Fig. 4 is the schematic diagram according to another embodiment of a sweeper device people's of the present invention control method.

Fig. 5 is the flow chart according to another embodiment of a sweeper device people's of the present invention control method.

Fig. 6 is the block schematic diagram according to an a sweeper device people's of the present invention embodiment.

Fig. 7 is the schematic diagram according to another embodiment of a sweeper device people's of the present invention control method.

Fig. 8 is the schematic diagram according to an embodiment of a sweeper device robot system of the present invention.

Fig. 9 is the flow chart according to another embodiment of a sweeper device people's of the present invention control method.

The reference numeral explanation

11,32,42, the 72 ~ robot of sweeping the floor;

12,31,41,71,81 ~ virtual wall;

13,25,26,43,73 ~ non-omnidirectional type photodetector;

14,74 ~ rib;

15,24 ~ light;

21,27,33 ~ omnidirectional type photodetector;

22,34,44,84 ~ shade;

23,28 ~ pedestal;

29 ~ vertical stretch;

61 ~ master controller;

63 ~ mobile motor;

64 ~ CD-ROM drive motor;

65 ~ photodetector;

66 ~ rotation motor;

83 ~ detector;

85 ~ wireless signal transmitter;

86 ~ receiving system;

B1 ~ first border;

B2 ~ second border;

T1, T2, T3, T4, T5 ~ time point.

The specific embodiment

About aforementioned and other technology contents, characteristics and effect of the present invention, in the detailed description below in conjunction with a preferred embodiment of accompanying drawing, can clearly present.The direction term of mentioning in following examples, for example: upper and lower, left and right, front or rear etc. only are directions with reference to the accompanying drawings.Therefore, the direction term of use is to illustrate not to be to limit the present invention.

Fig. 1 is the schematic diagram according to an embodiment of a sweeper device people of the present invention and a virtual wall.Virtual wall 12 can be sent a light 15 in order to the sign robot 11 inaccessiable restricted areas of sweeping the floor.The robot 11 of sweeping the floor comprises thenon-omnidirectional type photodetector 13 with rib (rib) 14.Thisrib 14 can cover the surface ofnon-omnidirectional type photodetector 13, and forms a light tight zone, and it is to receive light that this light tight zone can allownon-omnidirectional type photodetector 13 that a predetermined angular is arranged, and about 30 degree of the scope of this predetermined angular are to 90 degree.

Thisrib 14 may be the surface that is fixed onnon-omnidirectional type photodetector 13, or is fixed on another rotatable device, makes thisrib 14 can do the rotation of 360 degree along the surface of non-omnidirectional type photodetector 13.In the present embodiment, non-omnidirectional type is a description on the function, says that in order to explanation it is to detect light thatrib 14 can have certain zone because ofrib 14 atnon-omnidirectional type photodetector 13.

Therefore,non-omnidirectional type photodetector 13 may have two kinds of implementations.First kind of implementation ofnon-omnidirectional type photodetector 13 is exactly that an omnidirectional type photodetector and arib 14 are directly made up, and makes thatrib 14 is the lip-deep fixed positions that are fixed on the omnidirectional type photodetector.Then, this non-omnidirectionaltype photodetector 13 can be designed to directly to drive by a motor and be rotated, or thisnon-omnidirectional type photodetector 13 can be arranged on the platform, and this platform can be rotated by a motor, and then reaches the purpose of rotating this non-omnidirectional type photodetector 13.By such mode, when thisnon-omnidirectional type photodetector 13 detects this light 15, just can detect an incident angle of light 15 by rotating this non-omnidirectionaltype photodetector 13.

Second kind of implementation ofnon-omnidirectional type photodetector 13 is enclosed within a shade external member (mask kit) outside of omnidirectional type photodetector exactly, and this shade external member can be rotated, but this omnidirectional type photodetector then can't be rotated.This shade external member can be rotated by the driving of a motor.When thisnon-omnidirectional type photodetector 13 detects this light 15, just can detect an incident angle of light 15 by rotating this shade external member.

Detailed description aboutnon-omnidirectional type photodetector 13 please refer to Fig. 2 a to Fig. 2 e.

Fig. 2 a is the top view according to an embodiment of of the present invention one non-omnidirectional type photodetector.Shade (mask) the 22nd is formed by a light tight material, and is attached on the sensitive surface of omnidirectional type photodetector 21.Shade 22 can form the induction dead band (sensing dead zone) at a θ angle atomnidirectional type photodetector 21.

Please refer to Fig. 2 b.Fig. 2 b is the plan view of an embodiment of the non-omnidirectional type photodetector of Fig. 2 a.Can see that from Fig. 2 bomnidirectional type photodetector 21 is fixed on the pedestal 23.Pedestal 23 can be rotated by a motor or a stepper motor.Motor or stepper motor can come rotatingbase 23 according to a control signal of the controller in the robot of sweeping the floor.Though the light that general omnidirectional type photodetector can not have ground, dead angle detection virtual wall or charging station to send, but and can't be used for judging this moment, light was by which direction to be sent, and then can't learn a relative position of virtual wall or charging station and the robot of sweeping the floor of this moment.Just can judge the angle of detected light by the help ofshade 22.

Whenomnidirectional type photodetector 21 detected a light,pedestal 23 was preset in a clockwise direction or counter clockwise direction is revolved three-sixth turn.Whenomnidirectional type photodetector 21 detects less than light, when the controller in the robot of sweeping the floor can be tried to achieve 21 detections of omnidirectional type photodetector less than light, an anglec of rotation of pedestal 23.The scope of this anglec of rotation is that 0 degree is to (360-θ) degree.Then, controller just can estimate the direction of light according to direction of rotation, this anglec of rotation and this θ angle of pedestal 23.Detailed explanation please refer to Fig. 2 c and Fig. 2 d.

Fig. 2 c and Fig. 2 d utilize of the present invention one non-omnidirectional type photodetector to estimate the schematic diagram of the incident angle of a light.In Fig. 2 c, the initial position ofshade 22 is in position P1.When thisnon-omnidirectional type photodetector 25 detectedlight 24, thisnon-omnidirectional type photodetector 25 was rotated with a predetermined direction.In the present embodiment, this predetermined direction is counterclockwise.In Fig. 2 d, when thisnon-omnidirectional type photodetector 25 did not detect thislight 24, this non-omnidirectionaltype photodetector 25 stopped operating.At this moment, the controller in the robot of sweeping the floor can record a rotational angle Φ of thisnon-omnidirectional type photodetector 25, and estimates the direction oflight 24 according to this rotational angle Φ and initial position P1.

In one embodiment,non-omnidirectional type photodetector 25 is rotated by a motor, and this motor can transmit a turn signal and give controller, makes controller to estimate this rotational angle Φ according to this turn signal.In another embodiment,non-omnidirectional type photodetector 25 is rotated by a stepper motor.This stepper motor is the number of times that decides rotation according to the quantity of a pulse signal.So the angle that controller can be rotated each time by quantity and this stepper motor of pulse signal is estimated this rotational angle Φ.

In another embodiment,non-omnidirectional type photodetector 25 is to be fixed on the base, and this base is provided with a gear, makes motor directly to rotate this gear by a gear, or rotates this gear by a driving belt (timing belt).

Fig. 2 e is the schematic diagram according to another embodiment of of the present invention one non-omnidirectional type photodetector.Non-omnidirectional type photodetector 26 has comprised anomnidirectional type photodetector 27, abase 28 and a vertical stretch 29.Thisvertical stretch 29 is formed by a light-proof material, and can form an induction dead band in the sensitive surface of omnidirectional type photodetector 27.If light shines the induction dead band, then non-omnidirectional type photodetector 26 can not detect thislight.Base 28 can be by a revolution, to detect the direction of a light.In the present embodiment, omnidirectional type photodetector 26 does not link together with base 28.That is to say that whenbase 28 was rotated, omnidirectional type photodetector 26 can't and then be rotated.Please refer to Fig. 2 c and Fig. 2 d as for the direction that how to detect light, do not give unnecessary details at this.

Fig. 3 is the schematic diagram according to an embodiment of a sweeper device people's of the present invention control method.Virtual wall 31 can be sent a light in order to thesign robot 32 inaccessiable restricted areas of sweeping the floor.This light has one first border b1 and one second border b2.When time point T1, therobot 32 of sweeping the floor moves according to a predefined paths.When time point T2, non-omnidirectionaltype photodetector 33 detects the first border b2 of the light thatvirtual wall 31 sends.Therobot 32 of sweeping the floor this moment can stop mobilely, andnon-omnidirectional type photodetector 33 can be rotated with a clockwise mode or a counterclockwise.

When time point T3, becauseshade 34 has blocked the light thatvirtual wall 31 is sent, makenon-omnidirectional type photodetector 33 can't detect light.At this moment, the controllers in therobot 32 of sweeping the floor can record a current position ofpresent shade 34, and one first anglec of rotation of trying to achievenon-omnidirectional type photodetector 33 according to current position and its initial position ofshade 34.

Because sweep thefloor robot 32 can not be directly with the sweep the floor moving direction ofrobot 32 of first anglec of rotation correction ofnon-omnidirectional type photodetector 33, can shine into thepostrotational robot 32 of sweeping the floor so possibly can't face virtual wall 31.Therefore essential will be according to the anglec of rotation ofnon-omnidirectional type photodetector 33, by the sweep the floor moving direction of robot of a correction mechanism correction.

In the present embodiment, this correction mechanism can be according to one first center ofnon-omnidirectional type photodetector 33, one second center of therobot 32 of sweeping the floor, and distance and this anglec of rotation between this first center and this second center are tried to achieve one second anglec of rotation.Then rotate therobot 32 of sweeping the floor according to this second anglec of rotation again.Profit in such a way, the moving direction of thepostrotational robot 32 of sweeping the floor just can facevirtual wall 31.

In another embodiment, the controller ofrobot 32 of sweeping the floor can be obtained one first coordinate at this first center and one second coordinate at second center, then controller can be estimated a relative angle at this first center and this second center according to this first coordinate and this second coordinate, and tries to achieve one second anglec of rotation according to this relative angle and this anglec of rotation.Then, therobot 32 of sweeping the floor can be according to this second anglec of rotation rotation, and the front end of thepostrotational robot 32 of sweeping the floor will municipal administration face toward virtual wall 31.In other words, 32 the needs straight ahead of robot of sweeping the floor just can be nearvirtual wall 31, and need not carry out the correction of moving direction when mobile.

In the present embodiment, when time point T2, have onlynon-omnidirectional type photodetector 33 to be rotated, wait until thatnon-omnidirectional type photodetector 33 has been determined the direction of light after, when time point T3, therobot 32 of sweeping the floor just can be rotated.In another embodiment, when time point T2, when non-omnidirectionaltype photodetector 33 was rotated, therobot 32 of sweeping the floor also can rotate synchronously.Whennon-omnidirectional type photodetector 33 detected less than light, therobot 32 of sweeping the floor stopped the rotation simultaneously withnon-omnidirectional type photodetector 33, after therobot 32 of sweeping the floor stops, androbot 32 straight ahead of sweeping the floor.

In addition, be noted that in time point T2 and time point T3 that therobot 32 of sweeping the floor is not mobile.When time point T2, the robot of sweeping the floor can't move also and can not rotate, and has onlynon-omnidirectional type photodetector 33 to be rotated.And when time point T3, therobot 32 of sweeping the floor can rotate in the original place.Though among Fig. 3, as if when time point T2 and time point T3, therobot 32 of sweeping the floor is positioned at different positions, in fact, in above-mentioned two time points, the position of therobot 32 of sweeping the floor does not change.

When the controller of therobot 32 of sweeping the floor had been confirmed the direction of light, this controller can be in the position of ground this light of chart display, and the restricted area that draws.This map may be stored in a memory or the map data base in therobot 32 of sweeping the floor.The controller ofrobot 32 of sweeping the floor can be revised this map according to therobot 32 each motions of sweeping the floor, and indicates the position of barrier on map.

When time point T4, the position ofshade 32 is positioned at the front ofnon-omnidirectional type photodetector 33, makesnon-omnidirectional type photodetector 33 can't detect the light thatvirtual wall 31 is sent.So, as long as before therobot 32 of sweeping the floor is nearvirtual wall 31, non-omnidirectionaltype photodetector 33 never receives light, and therobot 32 that just can guarantee haply to sweep the floor moves towardsvirtual wall 31 as the crow flies.

Ifnon-omnidirectional type photodetector 33 is on the road of moving towardvirtual wall 31, detected the light thatvirtual wall 31 is sent, therobot 32 of sweeping the floor can stop mobilely, and can utilizenon-omnidirectional type photodetector 33 again the moving direction of therobot 32 of sweeping the floor to be proofreaied and correct.

When therobot 32 of sweeping the floor nearvirtual wall 31, and the distance of sweep thefloor robot 32 andvirtual wall 31 is during less than a predetermined value, a collision sense device ofrobot 32 front ends of sweeping the floor can send the controller that a stop signal is given therobot 32 of sweeping the floor.The collision sense device is arranged on the front end of therobot 32 of sweeping the floor, and in order to sweep the floor the place ahead ofrobot 32 of detection whether barrier is arranged.If the collision sense device detects a barrier, therobot 32 of sweeping the floor can judge whether this barrier is exactlyvirtual wall 31 earlier.If therobot 32 of sweeping the floor can halt, and can change with another direction and moveon.Robot 32 judges that this barrier is notvirtual wall 31 if sweep the floor, and therobot 32 of sweeping the floor can avoid this barrier earlier, then returns on the path of original movement.

When therobot 32 of sweeping the floor during nearvirtual wall 31,virtual wall 31 can be sent a radiofrequency signal or an infrared signal, makes therobot 32 of sweeping the floor can learn that therobot 32 of sweeping the floor is very near virtual wall 31.In another embodiment, can utilize that (Near FieldCommunication, NFC) device is installed in and reaches identical purpose on sweep thefloor robot 32 and thevirtual wall 31 with near-field communication.When the NFC device in therobot 32 of sweeping the floor received the data that transmit from the NFC device on thevirtual wall 31 or signal, thisexpression robot 32 of sweeping the floor was very approaching withvirtual wall 31, and therobot 32 of sweeping the floor should stop mobile.In general, the distance of reaction of near-field communication is about 20cm.

In the present embodiment, the light that sends ofvirtual wall 31 is through ovennodulation or the signal of encoding.Therefore, whennon-omnidirectional type photodetector 33 when detecting light, a controller of therobot 32 of sweeping the floor can earlier carry out rectification or decoding to detected light.When confirming that light isvirtual wall 31 when sending, aforesaid action is carried out in the machine talent conference of sweeping the floor.

In another embodiment, therobot 32 of sweeping the floor also comprises a reflection unit.This reflection unit can be arranged on the non-omnidirectional type photodetector 33.In another embodiment, this reflection unit can be arranged on the shade 32.Virtual wall 31 also comprises a receiving system, can receive the light that therobot 32 of sweeping the floor sends.In one embodiment, this receiving system is in order to the reception light that the reflection unit ofrobot 32 reflects of sweeping the floor.Control device in thevirtual wall 31 can carry out demodulation or decoding to the light that receives.When control device confirmed that the light receive and the light thatvirtual wall 31 is sent have identical codec format or identical modulation format, control device can be judged and sweep thefloor robot 32 nearvirtual wall 31 at this moment.Virtual wall 31 can send the light of different coding or different modulating to therobot 31 of sweeping the floor, and corresponding action can be done by thefeasible robot 31 of sweeping the floor.

In one embodiment, thisrobot 32 of sweeping the floor has a first wireless device, can set up a radio connecting with virtual wall 31.Thisvirtual wall 31 comprises a second wireless device, can set up this radio connecting with thisrobot 32 of sweeping the floor, and also can be connected to a network.Whenvirtual wall 31 received the light signal that the robot of sweeping the floor sends,virtual wall 31 was connected to network automatically, orvirtual wall 31 can be set up radio connecting with therobot 32 of sweeping the floor.In another embodiment, aftervirtual wall 31 can be set up radio connecting with therobot 32 of sweeping the floor,virtual wall 31 just can be connected to network.

Utilizing above-mentioned mode, can be so thatsweeper device people 32 can clean near the zone the light thatvirtual wall 31 sends, and also therobot 32 of sweeping the floor can not enter restricted area yet.In addition, also can sharp allowsweeper people 32 interior controllers depict a cleaning area map in such a way.Thereafter the robot of sweeping the floor just can move according to this cleaning area map, and can be more effectively and finish cleaning faster.

Fig. 4 is the schematic diagram according to another embodiment of a sweeper device people's of the present invention control method.Virtual wall 41 can be sent a light in order to thesign robot 42 inaccessiable restricted areas of sweeping the floor.This light has one first border b1 and one second border b2.When time point T1, therobot 42 of sweeping the floor moves according to a predefined paths.When time point T2,non-omnidirectional type photodetector 43 detects the first border b2 of the light thatvirtual wall 41 sends.Sweeping thefloor robot 42 this moment still can be mobile with the predefined paths continuation.When time point T3,non-omnidirectional type photodetector 43 detects the light of launching less thanvirtual wall 41, and therobot 42 of sweeping the floor this moment can stop mobile, andnon-omnidirectional type photodetector 43 can be rotated with a clockwise mode or a counterclockwise.

Whennon-omnidirectional type photodetector 43 detected the light thatvirtual wall 41 launches, the controllers in therobot 42 of sweeping the floor can receive one first triggering signal.This moment, this controller can be known the robot of sweeping the floor near this restricted area, so this controller can carry out certain operations to the sweeper people, as the sweep the floor translational speed ofrobot 42 or start a radiation direction trace routine in advance of reduction.The startup in advance of indication here refers to controller and can begin to collect the more needed parameters of radiation direction trace routine.

Whennon-omnidirectional type photodetector 43 detected the light of launching less thanvirtual wall 41, the controller in therobot 42 of sweeping the floor can receive one second triggering signal.Controller can stop thisrobot 42 of sweeping the floor according to this second triggering signal.If this radiation direction trace routine is when controller receives first triggering signal, just start in advance, then when this controller receives this second triggering signal, this radiation direction trace routine can be calculated the direction of the light thatvirtual wall 41 sends immediately.

When time point T4, becauseshade 44 has blocked the light thatvirtual wall 41 is sent, makenon-omnidirectional type photodetector 43 can't detect light.At this moment, the controllers in therobot 42 of sweeping the floor can record a current position ofpresent shade 44, and one first anglec of rotation of trying to achievenon-omnidirectional type photodetector 43 according to current position and its initial position ofshade 44.

Because sweep thefloor robot 42 can not be directly with the sweep the floor moving direction ofrobot 42 of first anglec of rotation correction ofnon-omnidirectional type photodetector 43, can shine into thepostrotational robot 42 of sweeping the floor so possibly can't face virtual wall 41.Therefore essential will be according to the anglec of rotation ofnon-omnidirectional type photodetector 43, by the sweep the floor moving direction of robot of a correction mechanism correction.

In the present embodiment, this correction mechanism can be tried to achieve one second anglec of rotation according to distance and this anglec of rotation between one second center, this first center and this second center of one first center ofnon-omnidirectional type photodetector 43, therobot 42 of sweeping the floor.Then rotate therobot 42 of sweeping the floor according to this second anglec of rotation again.Profit in such a way, the moving direction of thepostrotational robot 42 of sweeping the floor just can facevirtual wall 41.

In another embodiment, the controller ofrobot 42 of sweeping the floor can be obtained one first coordinate at this first center and one second coordinate at second center, then controller can be estimated a relative angle at this first center and this second center according to this first coordinate and this second coordinate, and tries to achieve one second anglec of rotation according to this relative angle and this anglec of rotation.Then, therobot 42 of sweeping the floor can be according to this second anglec of rotation rotation, and the front end of thepostrotational robot 42 of sweeping the floor will be to face virtual wall 41.In other words, 42 the needs straight ahead of robot of sweeping the floor just can be nearvirtual wall 41, and need not carry out the correction of moving direction when mobile.

In addition, be noted that in time point T3 and time point T4 that therobot 42 of sweeping the floor is not mobile.When time point T3, the robot of sweeping the floor can't move also and can not rotate, and has onlynon-omnidirectional type photodetector 43 to be rotated.And when time point T4, therobot 42 of sweeping the floor can rotate in the original place.Though among Fig. 4, as if when time point T3 and time point T4, therobot 42 of sweeping the floor is positioned at different positions, in fact, in above-mentioned two time points, the position of therobot 42 of sweeping the floor does not change.

When the controller of therobot 42 of sweeping the floor had been confirmed the direction of light, this controller can be in the position of ground this light of chart display, and the restricted area that draws.This map may be stored in a memory or the map data base in therobot 42 of sweeping the floor.The controller ofrobot 42 of sweeping the floor can be revised this map according to therobot 32 each motions of sweeping the floor, and indicates the position of barrier on map.

When time point T4 and T5, the position ofshade 42 is positioned at the front ofnon-omnidirectional type photodetector 43, makesnon-omnidirectional type photodetector 43 can't detect the light thatvirtual wall 41 is sent.So, as long as before therobot 42 of sweeping the floor is nearvirtual wall 41,non-omnidirectional type photodetector 43 never receives light, and therobot 42 that just can guarantee haply to sweep the floor moves towardsvirtual wall 41 as the crow flies.

Ifnon-omnidirectional type photodetector 43 is on the road of moving towardvirtual wall 41, detected the light thatvirtual wall 41 is sent, therobot 42 of sweeping the floor can stop mobilely, and can utilizenon-omnidirectional type photodetector 43 again the moving direction of therobot 42 of sweeping the floor to be proofreaied and correct.

When therobot 42 of sweeping the floor nearvirtual wall 41, and the distance of sweep thefloor robot 42 andvirtual wall 41 is during less than a predetermined value, a collision sense device ofrobot 42 front ends of sweeping the floor can send the controller that a stop signal is given therobot 42 of sweeping the floor.The collision sense device is arranged on the front end of therobot 42 of sweeping the floor, and in order to sweep the floor the place ahead ofrobot 42 of detection whether barrier is arranged.If the collision sense device detects a barrier, therobot 42 of sweeping the floor can judge whether this barrier is exactlyvirtual wall 41 earlier.If therobot 42 of sweeping the floor can halt, and can change with another direction and continue to move.Robot 42 judges that this barrier is notvirtual wall 41 if sweep the floor, and therobot 42 of sweeping the floor can avoid this barrier earlier, then returns on the path of original movement.

When therobot 42 of sweeping the floor during nearvirtual wall 41,virtual wall 41 can be sent a radiofrequency signal or an infrared signal, makes therobot 42 of sweeping the floor can learn that therobot 42 of sweeping the floor is very near virtual wall 41.In another embodiment, can utilize that (Near FieldCommunication, NFC) device is installed in and reaches identical purpose on sweep thefloor robot 42 and thevirtual wall 41 with near-field communication.When the NFC device in therobot 42 of sweeping the floor received the data that transmit from the NFC device on thevirtual wall 41 or signal, thisexpression robot 42 of sweeping the floor was very approaching withvirtual wall 41, and therobot 42 of sweeping the floor should stop mobile.In general, the distance of reaction of near-field communication is about 20cm.

Fig. 5 is the flow chart according to another embodiment of a sweeper device people's of the present invention control method.In step S51, the robot of sweeping the floor can be according to a predetermined path movement.In general, when the robot of sweeping the floor starts working, may be earlier move with move mode at random, or set the robot Move Mode at the beginning of sweeping the floor by the user.The robot of sweeping the floor moves with random fashion, and the controller in the robot that can assist to sweep the floor is drawn a plane map of an interior space.When the robot of sweeping the floor is activated next time, just can move according to the information on this plane map.

In step S52, judge the light whether a photodetector of the robot of sweeping the floor has the virtual wall of detecting to send.If it's not true, the robot of then sweeping the floor continues with predetermined path movement.If photodetector detects the light that virtual wall is sent, then execution in step S53.In the present embodiment, photodetector is a non-omnidirectional type photodetector.Can carry an information of encoding or the light of crossing through ovennodulation in the light that virtual wall is sent.When photodetector detected light, whether entrained information or this light carried out rectification in the light that can go to decode was sent by virtual wall to confirm this light.

In step S53, whether the controller of the robot of sweeping the floor can determine and will carry out corresponding action at the event that photodetector detects the light that virtual wall sends, as leave the zone that this light is contained.If controller determines to respond, then execution in step S54.If controller determines not respond, then execution in step S59, and the robot continuation movement of sweeping the floor.

In step S59, whether the photodetector of judging the robot of sweeping the floor still has and detects the light that virtual wall is sent.If any, the robot of then sweeping the floor continues mobile, and continues execution in step S59.When the photodetector of robot of sweeping the floor detects the light that sends less than virtual wall, execution in step S54.In step S59, the situation that the photodetector of the robot of sweeping the floor detects the light that sends less than the virtual wall machine of representing to sweep the floor this moment may enter in the restricted area, and the robot of sweeping the floor must leave at once.

In step S53, when photodetector detected the light that virtual wall sends, photodetector can transmit one first triggering signal and give controller, and controller determines to want execution in step S54 or S59 in setting and this first triggering signal according to the robot of sweeping the floor.In one embodiment, this first triggering signal can be sent to a general input and output pin position of this controller (general purpose input/output pin GPIO), and can change the logic state of this GPIO pin position.For instance, this first triggering signal may be a upper limb triggering signal, and the logic of propositions state of this GPIO pin position is logic low.Therefore when this GPIO pin position received this upper limb triggering signal, the logic state of this GPIO pin position was changed to logic high.The logic state of this GPIO pin position changes can trigger an interrupt event, and controller also can learn that photodetector has detected the light that virtual wall is sent according to this interrupt event.

In step S54, it is mobile that the robot of sweeping the floor stops, and this photodetector is by with clockwise or the counterclockwise rotation.The structure of photodetector or function mode can be with reference to figure 2a to Fig. 2 e in the present embodiment, and corresponding explanation.In step S55, when this photodetector becomes when not detecting virtual wall light from the light that the virtual wall of detecting is arranged, controller can be tried to achieve one first anglec of rotation of this photodetector.

Then in step S56, the controller of the robot of sweeping the floor is tried to achieve one second anglec of rotation according to distance and this first anglec of rotation between one second center, this first center and this second center of one first center of this first anglec of rotation, this photodetector, this robot of sweeping the floor.Then rotate the robot of sweeping the floor (step S57) according to this second anglec of rotation again.Profit in such a way, postrotational robot 4 moving directions of sweeping the floor just can face virtual wall.

In another embodiment, the controller of robot of sweeping the floor can be obtained one first coordinate at this first center and one second coordinate at second center, then controller can be estimated a relative angle at this first center and this second center according to this first coordinate and this second coordinate, and tries to achieve one second anglec of rotation according to this relative angle and this first anglec of rotation.Then, the robot of sweeping the floor can be rotated according to this second anglec of rotation.The front end of the postrotational robot of sweeping the floor will be to face virtual wall.In other words, under these circumstances, the robot of sweeping the floor only needs the straight ahead just can be near virtual wall, and need not carry out the correction of moving direction when mobile.

In step S58, the robot of sweeping the floor moves towards virtual wall.The robot of sweeping the floor move during, if non-omnidirectional type photodetector is on the road of moving toward virtual wall, detected the light thatvirtual wall 41 is sent, the robot of sweeping the floor can stop mobile, and can utilize this photodetector again the moving direction of the robot of sweeping the floor to be proofreaied and correct.

When the robot of sweeping the floor near virtual wall, and the distance of sweep the floor robot and virtual wall is during less than a predetermined value, a collision sense device of the robot front end of sweeping the floor can send the controller that a stop signal is given the robot of sweeping the floor.The collision sense device is arranged on the front end of the robot of sweeping the floor, and in order to sweep the floor the place ahead of robot of detection whether barrier is arranged.If the collision sense device detects a barrier, the robot of sweeping the floor can judge whether this barrier is exactly virtual wall earlier.If the robot of sweeping the floor can halt, and can change with another direction and continue to move.Robot judges that this barrier is not virtual wall if sweep the floor, and the robot of sweeping the floor can avoid this barrier earlier, then returns on the path of original movement.

When the robot of sweeping the floor during near virtual wall, virtual wall can be sent a radiofrequency signal or an infrared signal, makes the robot of sweeping the floor can learn that the robot of sweeping the floor is very near virtual wall.In another embodiment, can (Near Field Communication, NFC) device be installed in and reaches identical purpose on sweep the floor robot and the virtual wall with near-field communication.When the NFC device in the robot of sweeping the floor received the data that transmit from the NFC device on the virtual wall or signal, sweep the floor robot and virtual wall of this expression was very approaching, and the robot of sweeping the floor should stop mobile.In general, the distance of reaction of near-field communication is about 20cm.

Fig. 6 is the block schematic diagram according to an a sweeper device people's of the presentinvention embodiment.Photodetector 65 is subjected to the driving of a CD-ROM drive motor 64 and is rotated.Can be with reference to figure 2a to Fig. 2 e and corresponding explanation about the structure ofphotodetector 65 and function mode.Themobile motor 63 controls robot of sweeping the floor advances orretreats.Rotation motor 66 is swept the floor robot with control sweep the floor direction of advance or the direction of retreat of robot in order to rotation.

Master controller 61 can be carried out a program, with the control robot of sweeping the floor.Comprise a plurality of subprograms in this program, one of them subprogram is about how this operates when the robot of sweeping the floor runs into virtual wall.But the function declaration of this subprogram can be joined the explanation of Fig. 3 to Fig. 5.

Present embodiment is to be example explanation withphotodetector 65, but non-the present invention is limited to this.Photodetector 65 is replaceable to be an acoustic signal detector, and the signal that virtual wall is sent is an acoustic signal.This acoustic signal detector can be rotated, and judges the position of virtual wall according to the intensity of the acoustic signal that receives.For instance, when the acoustic signal detector detected the acoustic signal with strongest signal strength, expression acoustic signal detector this moment was over against virtual wall.The acoustic signal detector may be the acoustic reflection plate of a hard material.

Fig. 7 is the schematic diagram according to another embodiment of a sweeper device people's of the present invention control method.

The robot 72 of sweeping the floor is with predetermined path movement when the A of position, and rib 74 also is fixed in the dead astern of photodetector 73.

Position A is to position B:

Step S1: rib 74 is the dead asterns that are fixed on photodetector 73.When the B of position, photodetector 73 detects the light that virtual wall 71 is sent, and the robot 72 of sweeping the floor stops mobile.

Position B is to position C:

Step S2: photodetector 73 is by with clockwise or counterclockwise rotation, till photodetector 73 detects the light that sends less than virtual wall.The controller in the robot of sweeping the floor can go to estimate one first anglec of rotation of photodetector 73 this moment.

The distance of supposing one second center of one first center C of photodetector 73 and the robot 72 of sweeping the floor is 15 centimeters, and the length of straight line L1 is 50 centimeters.The slope of the straight line L1 that controller can push away according to first anglec of rotation.Because when the B of position, one first coordinate figure of the central point C1 of the robot of sweeping the floor is known, and the distance that adds straight line L2 is fixing, therefore can push away when the C of position, one second coordinate values of the central point of the robot of sweeping the floor.Utilize this first coordinate values and this second coordinate values can be in the hope of the slope of straight line L2.And the angle of straight line L2 and L3 is exactly the angle that robot should rotate of sweeping the floor.

Step S3: the robot of sweeping the floor moves to position B by position B.The distance that moves along straight line L1 of in the present embodiment, sweeping the floor that robot moves is fixed.

From position C to virtual wall 71:

The angle of step S4: calculated line L1 and L2, then this robot 72 of sweeping the floor is rotated, and makes rib 74 can face virtual wall 71.

Step S5: rib 74 is fixed on photodetector 73, and the control robot 72 of sweeping the floor takes the air line near virtual wall 71.

Fig. 8 is the schematic diagram according to an embodiment of a sweeper device robot system of the present invention.Virtual wall 81 comprises awireless signal transmitter 85 and a receiving system 86.Wireless signal transmitter 85 is in order to sending a wireless signal, in order to the sign inaccessiable restricted area of robot of sweeping the floor.This wireless signal is through modulation or the signal of encoding.Wireless signal transmitter 85 may be a light emitters or an acoustic signals transmitter.

The robot of sweeping the floor comprises adetector 83 and a shade 84.The wireless signal thatdetector 83 sends in order to detected wireless signals transmitter 85.In one embodiment,detector 83 can reflect this wireless signal to receiving system 86.In another embodiment,shade 84 can reflect this wireless signal to receiving system 86.In addition, the robot of sweeping the floor can comprise also that one first wireless signal is sent out and establish device that can launch one first wireless signal, this first wireless signal has identical modulation format or coded format withwireless signal transmitter 85 wireless signal that sends.

When receivingsystem 86 received wireless signal, the control device in thevirtual wall 81 can carry out rectification or decoding to the wireless signal that receives.When control device confirmed that the wireless signal receive and the wireless signal thatvirtual wall 81 is sent have identical codec format or identical modulation format, control device can be judged and sweep the floor robot nearvirtual wall 81 at this moment.The intensity of the wireless signal that control device also can receive according to receivingsystem 86 is judged the distance of sweep the floor robot andvirtual wall 81.

Fig. 9 is the flow chart according to another embodiment of a sweeper device people's of the present invention control method.In step S901, the robot of sweeping the floor can be according to a predetermined path movement.In general, when the robot of sweeping the floor starts working, may be earlier move with move mode at random, or set the robot Move Mode at the beginning of sweeping the floor by the user.The robot of sweeping the floor moves with random fashion, and the controller in the robot that can assist to sweep the floor is drawn a plane map of an interior space.When the robot of sweeping the floor is activated next time, just can move according to the information on this plane map.

In step S902, judge the wireless signal whether a detector of the robot of sweeping the floor has the virtual wall of detecting to send.If it's not true, the robot of then sweeping the floor continues with predetermined path movement.If detector detects the wireless signal that virtual wall is sent, then execution in step S903.

In step S903, whether the intensity that a controller of the robot of sweeping the floor is earlier judged the wireless signal of receiving greater than a predetermined value, if, execution in step S904 then.If the intensity of wireless signal is not greater than this predetermined value, then the detected wireless signal of detector is regarded as disturbing or noise, and follows execution in step S901.If the intensity of wireless signal is greater than this predetermined value, the controller of the robot of sweeping the floor more can be judged the emission source of wireless signal and the distance between the robot of sweeping the floor according to the intensity of wireless signal.

In step S904, the controller of the robot of sweeping the floor can judge whether the wireless signal that receives is that virtual wall is sent.If not, execution in step S901 then.If, execution in step S905.

In one embodiment, detector is a non-omnidirectional type photodetector.The wireless signal that virtual wall is sent is the information of encoding of carrying or the light of crossing through ovennodulation.When detector detected this light, whether entrained information or this light carried out rectification in the light that can go to decode was sent by virtual wall to confirm this light.

In another embodiment, detector is the Acoustic detection device, and has an acoustic reflection plate.The wireless signal that virtual wall is sent is to carry an information of encoding or an acoustic signal of crossing through ovennodulation.When detector detected this acoustic signal, whether entrained information or this this acoustic signal carried out rectification in this acoustic signal that can go to decode was sent by virtual wall to confirm this acoustic signal.

This acoustic reflection plate can reflect the acoustic signal that receives gives virtual wall.When this virtual wall received the acoustic signal of this reflection, virtual wall can judge whether this acoustic signal is that virtual wall is sent earlier.If this virtual wall can learn that the robot of sweeping the floor approaches, and virtual wall can be judged the position of sweep the floor robot and virtual wall according to the intensity of the acoustic signal that reflects.

In step S905, whether the controller of the robot of sweeping the floor can determine and will carry out corresponding action at the event that detector detects the wireless signal that virtual wall sends, as leave the zone that this light is contained.If controller determines to respond, then execution in step S906.If controller determines not respond, then execution in step S911, and the robot continuation movement of sweeping the floor.

In step S911, the controller of the robot of sweeping the floor continue to be judged whether the detector of the robot of sweeping the floor still has and is detected the wireless signal that virtual wall is sent.If any, the robot of then sweeping the floor continues mobile, and continues execution in step S911.When the detector of the robot of sweeping the floor detects the wireless signal that sends less than virtual wall, execution in step S906.In step S911, the situation that the detector of the robot of sweeping the floor detects the wireless signal that sends less than the virtual wall machine of representing to sweep the floor this moment may enter in the restricted area, and the robot of sweeping the floor must leave at once.

In step S906, when detector detected the wireless signal that virtual wall sends, detector can transmit one first triggering signal and give controller, and controller determines to want execution in step S906 or S911 in setting and this first triggering signal according to the robot of sweeping the floor.In one embodiment, this first triggering signal can be sent to a general input and output pin position of this controller (general purpose input/output pin GPIO), and can change the logic state of this GPIO pin position.For instance, this first triggering signal may be a upper limb triggering signal, and the logic of propositions state of this GPIO pin position is logic low.Therefore when this GPIO pin position received this upper limb triggering signal, the logic state of this GPIO pin position was changed to logic high.The logic state of this GPIO pin position changes can trigger an interrupt event, and controller also can learn that detector has detected the wireless signal that virtual wall is sent according to this interrupt event.

In step S906, it is mobile that the robot of sweeping the floor stops, and this detector is by with clockwise or the counterclockwise rotation.In the present embodiment, detector is a photodetector, and its structure or function mode can be with reference to figure 2a to Fig. 2 e, and corresponding explanation.If detector is acoustic detector, then acoustic detector can be rotated, and when this acoustic detector detected the acoustic signal with maximum signal, expression acoustic detector this moment was over against virtual wall, and acoustic detector is stopped the rotation.

In step S907, when this detector becomes (this wireless signal is optical signalling) when not detecting this wireless signal from the wireless signal that the virtual wall of detecting is arranged, or this detector is when becoming the wireless signal that detects maximum signal from the wireless signal that the virtual wall of detecting is arranged (this wireless signal is acoustic signal), and controller can be tried to achieve one first anglec of rotation of this detector.

Then in step S908, the controller of the robot of sweeping the floor is tried to achieve one second anglec of rotation according to distance and this first anglec of rotation between one second center, this first center and this second center of one first center of this first anglec of rotation, this detector, this robot of sweeping the floor.Then rotate the robot of sweeping the floor (step S57) according to this second anglec of rotation again.Profit in such a way, the moving direction of the postrotational robot of sweeping the floor just can face virtual wall.

In another embodiment, the controller of robot of sweeping the floor can be obtained one first coordinate at this first center and one second coordinate at second center, then controller can be estimated a relative angle at this first center and this second center according to this first coordinate and this second coordinate, and tries to achieve one second anglec of rotation according to this relative angle and this first anglec of rotation.Then, the robot of sweeping the floor can be rotated according to this second anglec of rotation.The front end of the postrotational robot of sweeping the floor will be to face virtual wall.In other words, under these circumstances, the robot of sweeping the floor only needs the straight ahead just can be near virtual wall, and need not carry out the correction of moving direction when mobile.

In another embodiment, the robot of sweeping the floor can rotate synchronously with detector.When this detector becomes (this wireless signal is optical signalling) when not detecting this wireless signal from the wireless signal that the virtual wall of detecting is arranged, or this detector is when becoming the wireless signal that detects maximum signal from the wireless signal that the virtual wall of detecting is arranged (this wireless signal is acoustic signal), and the robot of sweeping the floor stops the rotation.Then, in step S910, the robot of sweeping the floor moves towards virtual wall.

The above is preferred embodiment of the present invention only, and can not limit scope of the invention process with this, and namely all simple equivalent of doing according to claim of the present invention and invention description content change and modify, and all still belongs in the scope that patent of the present invention contains.Arbitrary embodiment of the present invention or claim must not realize disclosed whole purposes or advantage or characteristics in addition.In addition, summary part and title only are the usefulness of auxiliary patent document search, are not to limit interest field of the present invention.

Claims (20)

1. the control method of the robot of sweeping the floor is applicable to the sweeper device people with a non-omnidirectional type photodetector, comprising:

Detect a light by this non-omnidirectional type photodetector;

When this non-omnidirectional type photodetector detects this light, this robot stop motion of sweeping the floor, and rotate this non-omnidirectional type photodetector;

When this non-omnidirectional type photodetector detected less than this light, this non-omnidirectional type photodetector and estimate one first anglec of rotation stopped operating; And

Change one of this robot of sweeping the floor direction of advancing according to this first anglec of rotation.

2. the control method of the robot of sweeping the floor as claimed in claim 1 also comprises:

When detecting this light, judge whether this light is sent by a virtual wall.

3. the control method of the robot of sweeping the floor as claimed in claim 1 also comprises:

According to one first center of this first anglec of rotation, this non-omnidirectional type photodetector, one second center of this robot of sweeping the floor and a distance at this first center and this second center, estimate one second anglec of rotation.

4. the control method of the robot of sweeping the floor as claimed in claim 3 also comprises:

Rotate this robot of sweeping the floor to change this direct of travel of this robot of sweeping the floor according to this second anglec of rotation.

5. the control method of the robot of sweeping the floor as claimed in claim 1 also comprises:

This robot of sweeping the floor moves to a virtual wall along this light.

6. the control method of the robot of sweeping the floor as claimed in claim 5, wherein when this robot of sweeping the floor moved along this light to this virtual wall, this non-omnidirectional type photodetector can't detect this light.

7. the control method of the robot of sweeping the floor as claimed in claim 5 when this robot of sweeping the floor moves along this light to this virtual wall, detects this light as if this non-omnidirectional type photodetector, and this robot of sweeping the floor stops, and adjusts this direct of travel.

8. the control method of the robot of sweeping the floor is applicable to the sweeper device people with a non-omnidirectional type photodetector, comprising:

Detect a light by this non-omnidirectional type photodetector;

When this non-omnidirectional type photodetector detected this light for the first time, this robot of sweeping the floor continued mobile;

When this non-omnidirectional type photodetector detects less than this light, this robot stop motion of sweeping the floor, and rotate this non-omnidirectional type photodetector;

When this non-omnidirectional type photodetector detected this light again, this non-omnidirectional type photodetector and estimate one first anglec of rotation of this non-omnidirectional type photodetector stopped operating; And

Change one of this robot of sweeping the floor direction of advancing according to this first anglec of rotation.

9. the control method of the robot of sweeping the floor as claimed in claim 8 also comprises:

When detecting this light, judge whether this light is sent by a virtual wall.

10. the control method of the robot of sweeping the floor as claimed in claim 8 also comprises:

According to one first center of this first anglec of rotation, this non-omnidirectional type photodetector, one second center of this robot of sweeping the floor and a distance at this first center and this second center, estimate one second anglec of rotation.

11. the control method of the robot of sweeping the floor as claimed in claim 10 also comprises:

Rotate this robot of sweeping the floor to change this direct of travel of this robot of sweeping the floor according to this second anglec of rotation.

12. the control method of the robot of sweeping the floor as claimed in claim 8 also comprises:

This robot of sweeping the floor moves to a virtual wall along this light.

13. the control method of the robot of sweeping the floor as claimed in claim 12, wherein when this robot of sweeping the floor moved along this light to this virtual wall, this non-omnidirectional type photodetector can't detect this light.

14. the control method of the robot of sweeping the floor as claimed in claim 12, when this robot of sweeping the floor moved along this light to this virtual wall, if this non-omnidirectional type photodetector detects this light, this robot of sweeping the floor stopped, and adjusts this direct of travel.

15. the robot of sweeping the floor comprises:

One radio signal detector is in order to detect one first wireless signal;

One motor is in order to mobile this robot of sweeping the floor; And

One controller, control this motor according to this first wireless signal, wherein when this radio signal detector is detectd this first wireless signal, this controller judges that whether the intensity of this first wireless signal is greater than a predetermined value, and when the intensity of this first wireless signal during greater than this predetermined value, this controller judges whether this first wireless signal is sent by a virtual wall, and when this first wireless signal is sent by this virtual wall, this controller is controlled this radio signal detector and this motor, and this robot of sweeping the floor is moved toward this virtual wall.

16. the robot of sweeping the floor as claimed in claim 15 also comprises:

One wireless signal transmitting device is given this virtual wall in order to launch one second wireless signal.

17. the robot of sweeping the floor as claimed in claim 16, wherein this wireless signal transmitting device is a wireless signal reflection unit, gives this virtual wall in order to reflect this first wireless signal.

18. the robot of sweeping the floor as claimed in claim 15, wherein this radio signal detector is the non-omnidirectional type photodetector with a shade, and this first wireless signal is a light.

19. the robot of sweeping the floor as claimed in claim 18, wherein when this non-omnidirectional type photodetector detected this light, this non-omnidirectional type photodetector was rotated to detect a direction of this virtual wall.

20. the robot of sweeping the floor as claimed in claim 15 also comprises a wireless device, in order to set up a radio connecting with this virtual wall, wherein when this radio connecting was established, this virtual wall connected a network.

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